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Questions tagged [differential-drive]

Differential drive is a commonly used drive system, which consists of two independently controlled wheels.

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Torque calculation for differential drive AGV for turning about pivot position

I am building an AGV to carry a payload of 60 Kg and AGV weight is 60 kg. Currently I am using 60 kg-cm torque stepper motor (1.6 A 12 V) on each wheel of a 4 wheel drive ...
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Need some advice on controlling maxon motors for two wheeled robot

I am using two maxon EC 45 flat motors to run a three wheeled robot (the third wheel is passive). I have two motor controllers (Maxon ESCON 50/5) to control each motor as well. There is a software by ...
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50 views

4 Wheel Differential Drive Robot with different speeds

Differential drive robot with 4 wheels, If for example the back wheels were using different motors than the front ones ( ie : running at a faster/slower speed ) in general, would that generate more ...
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Designing systems for sharing resources on multiple SOC's

I have some Raspberry Pi's from previous projects/learning and I would like to pool their resources to make a differential drive robot. Two Pi's would have one camera each for a vision system, one ...
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ROS Gazebo Odometry Issue

I am setting up a Gazebo model for use with the navigation stack. I have been reading the Navigation Tuning Guide and am confused about the lidar data in the odom frame. I would think that the tuning ...
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125 views

What is difference between 2 wheels and 4 wheels and tracked differential mobile base kinematics?

In generally I know that no difference between 2WD and 4WD mobile base control kinematics equations. but is there really difference between two wheels differential mobile base and tracked/...
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1answer
465 views

calculating differential drive robot ICC position

I don't understand how to calculate the ICC position with the given coordinates. I somehow just have to use basic trigonometry but I just can't find a way to calculate the ICC position based on the ...
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Prediction step for EKF based localization

In my current problem, I'm supposed to use the Extended Kalman filter to localize my diffrential drive robot that uses encoders and laser scanner to traverse the area. During the prediction step, ...
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187 views

Understanding differential drive

I am a beginner in robotics and I have just come across the concepts of differential and steer drive. I don't understand them very clearly yet. I found the following write up describing differential ...
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43 views

How can I run Tests/Simulations of Control and Motion Planning for a Bare Metal Robot?

I am using a raspberry pi to practice low level development with a differential drive robot; bare metal without an OS underneath. I've gotten to the point where I have a very small, single purpose ...
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1answer
87 views

Forward Kinematics od Differential Robot

r = 1; w1 = 4; w2 = 2; l = 1; R = [0 -1 0; 1 0 0; 0 0 1]; X = [(r*w1)/2 + (r*w2)/2; 0 ; (r*w1)/(2*l) - (r*w2)/(2*l)]; A = R*X; disp(A) I am getting the solution ...
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Reward Function for q learning on a robot

I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
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Q Learning And Kohonen Maps For Line Follower Robot

I'm trying to build a line follower robot and I'm interested in predicting the curves on the track. I have 8 binary sensor array(qre1113). My goal is to make a system that it can generalize what it ...
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178 views

Handling of a 4WD robot frame as a 2 wheel differential drive

I have a 'Baron' robot frame with 4 static wheels, all driven by a motor. At the moment I'm thinking of handling it like a 2 wheel differential drive. Left and right wheels would receive the same ...
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How do the PID parameters (Kp, Ki, and Kd) affect the heading of a differential driving robot when they are increased individually?

Question: A PID controller has three parameters Kp, Ki and Kd which could affect the output performance. A differential driving robot is controlled by a PID controller. The heading information is ...
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Plotting location using wheel encoder data

Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/] The UGV image - via the SFU Mountain Dataset website: I have used the following state update ...
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Standard equation for steering differential drive robot

I am writing a code in Arduino IDE for NodeMCU Board to control a differential drive 2 wheeled robot. I am able to steer only one direction for some reason and the steering response time is a little ...
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How to find kinematics of differential drive caster robot?

I'm working on a little project where I have to do some simulations on a small robot. I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
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4k views

How to perform odometry on an arduino for a differential wheeled robot?

I am using a differential wheel robot for my project. I need to know the current coordinates of the robot with respect to it's initial position taken as the origin. I m doing the computation on an ...
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37 views

Error as a State space

I am reading the following research paper regarding Trajectory tracking of mobile robots. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5415188 There are two things at the start of the ...
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607 views

Changing tank drive (differential) mode to single joystick drive mode

I bought 2 brushed motor controllers from China to use within my hobby-weight battle robot (http://www.banggood.com/ESC-Brushed-Speed-Controller-For-RC-Car-Truck-Boat-320A-7_2V-16V-p-915276.html). ...
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Acceleration formula for a differential steering robot

I have the formulas to derive the RPM's of each wheel from the robot's linear velocity. Now, I am trying to do the same thing for the acceleration (mainly angular acceleration). For linear ...
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1answer
582 views

ROS NavStack with Skid Steering robots

I am migrating from a differential drive design to a skid steering design for my robot, and I want to know how easy would it be to use the NavStack with skid steering. Would there be any problems in ...
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468 views

IMU based acceleration parameters for differential drive robot

I have a differential drive robot whose motors are virtually quiet while driving on a completely flat surface, but the motors make a lot of noise when on a incline. This is likely due to the ...
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1answer
217 views

Designing compatible spur gears for a robot gearbox

I'm trying to increase the torque on the output shaft of my robot's gearbox. I have a motor with a pinion attached to it with 8 teeth. I want to create a gear with 33 teeth that will mesh with the ...
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323 views

How to calibrate differential drive?

I'm building a robot with differential drive. I've reached the point when I can drive it around on remote control and I'm trying to get the localization working. Now I would like to exactly measure ...
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Differential Drive Robot Control

Edited: I have a differential drive robot that needs to drive down a hall and stay in the center. I have 4 ultra sonic sensors, 2 on each side. Currently, I thought of implementing pure pursuit and ...
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3answers
479 views

Differential Drive Robot on uneven surfaces

So I am building a differential drive robot and I want it to autonomously drive in a straight line on an uneven surface. I know I need a position and velocity PID. As of now, I am deciding on which ...
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4k views

differential drive PID controller

I have a differential drive robot that works fine (good PD parameters) driving at say 1 m/s. Now, if it speeds up (to 1.2 m/s) it starts wobbling again. What would be a good strategy for a controller ...
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1answer
813 views

Differential drive trajectory following control

I have a robot platform with differential drive which knows it's position and orientation. Lets say that the space through which the robot moves is known and it has only static obstacles. The task is ...
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271 views

Generic name for two-motor wheeled/tracked robots?

Is there a generic name for the category of robots that move using two opposing wheels or tank-like treads?
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542 views

Roller Screw drive - axial movement instead of friction

I need an equation or a some hints to solve the following problem. Imagine a roller screw drive. I apply a torque of T to translative move my load mass ...
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Approach to using PID to get a differential robot driving straight

Consider a differential drive robot that has two motorized wheels with an encoder attached to each for feedback. Supposed there is a function for each DC motor that takes a float from -1 to 1 and sets ...